Gazebo Performance Tuning Guide #673
Description
I know I've run into GZ performance issues with the TB4, and [others seem to have the same problems](#Gazebo General > Performance of gazebo harmonic vs newer versions).
There is a laundry list of potential modifications to stock Gazebo that can address these issues, including:
- Swapping Ogre for Ogre 2
- Swapping the physics engine to Bullet Featherstone
- Using simpler models
- Adding hardware acceleration for various functions.
- Performing LIDAR simulation on a GPU
- Disabling PBR
- Many more that I am probably not aware of.
Desired behavior
We should create a guide that walks users through enabling these changes to improve their Gazebo performance / RTF.